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#include "foundation/PxAssert.h"
#include "ExtUtilities.h"
#include "GuAABBTreeBuildStats.h"
#include "foundation/PxFPU.h"

namespace physx
{
namespace Ext
{
	using namespace Gu;
	
	static PxVec3 toFloat(const PxVec3d& p)
	{
		return PxVec3(PxReal(p.x), PxReal(p.y), PxReal(p.z));
	}

	void buildTree(const PxU32* triangles, const PxU32 numTriangles, const PxVec3d* points, PxArray<Gu::BVHNode>& tree, PxF32 enlargement)
	{
		//Computes a bounding box for every triangle in triangles
		AABBTreeBounds boxes;
		boxes.init(numTriangles);
		for (PxU32 i = 0; i < numTriangles; ++i)
		{
			const PxU32* tri = &triangles[3 * i];
			PxBounds3 box = PxBounds3::empty();
			box.include(toFloat(points[tri[0]]));
			box.include(toFloat(points[tri[1]]));
			box.include(toFloat(points[tri[2]]));
			box.fattenFast(enlargement);
			boxes.getBounds()[i] = box;
		}

		Gu::buildAABBTree(numTriangles, boxes, tree);
	}
}
}
